CN109496437A - Localization method and its device based on bluetooth BLE - Google Patents

Localization method and its device based on bluetooth BLE Download PDF

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Publication number
CN109496437A
CN109496437A CN201780000334.0A CN201780000334A CN109496437A CN 109496437 A CN109496437 A CN 109496437A CN 201780000334 A CN201780000334 A CN 201780000334A CN 109496437 A CN109496437 A CN 109496437A
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rssi value
value
changing rule
ble
terminal device
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CN201780000334.0A
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CN109496437B (en
Inventor
周永林
陈法海
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Shenzhen Goodix Technology Co Ltd
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Shenzhen Goodix Technology Co Ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14Systems for determining direction or deviation from predetermined direction
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284Relative positioning
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/023Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/024Guidance services
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/025Services making use of location information using location based information parameters
    • H04W4/026Services making use of location information using location based information parameters using orientation information, e.g. compass
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/025Services making use of location information using location based information parameters
    • H04W4/027Services making use of location information using location based information parameters using movement velocity, acceleration information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/02Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/10Small scale networks; Flat hierarchical networks
    • H04W84/12WLAN [Wireless Local Area Networks]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Telephone Function (AREA)

Abstract

The present invention relates to field of wireless communication, disclose a kind of localization method and its device based on bluetooth BLE.In the present invention, the localization method based on bluetooth BLE is applied to terminal device, comprising: when the RSSI value parsed from the signal of equipment from received target BLE is less than preset threshold, calculates the changing rule of RSSI value;According to the changing rule of RSSI value, the prompt information for being used for prompt terminal equipment moving direction is generated, until RSSI value is greater than or equal to preset threshold.The invention also discloses a kind of positioning devices based on bluetooth BLE.Compared with prior art, the present invention can quickly find position of the target BLE from equipment, highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.

Description

Localization method and its device based on bluetooth BLE Technical field
The present invention relates to field of wireless communication, in particular to localization method and its device based on bluetooth BLE.
Background technique
Short-distance wireless communication technology at present is widely used in numerous electronic equipments, such as smart phone, bracelet, wearable device, sensor.These electronic equipments support location technology.Positioning, which refers to, realizes position positioning in environment indoors, a set of indoor location locating system for mainly using the multiple technologies such as wireless telecommunications, base station location, inertial navigation positioning to be integrated to form.In addition to the cellular localization technology of communication network, common indoor wireless location technology also: WLAN (Wi-Fi), bluetooth, infrared ray, ultra wide band, radio frequency identification (RFID), purple peak (ZigBee) and ultrasonic wave etc..
Localization method in the prior art, it is based on mobile device mostly, the positioning system being made of Bluetooth AP and server, its positioning is repeatedly to be communicated the transmission communication network that broadcast message is constructed by Bluetooth AP with server by mobile device, after being calculated by server, a kind of invention of the location information of current mobile device is obtained, and location information is sent to mobile device.Alternatively, the bluetooth positioning system based on iBeacon, which is made of iBeacon information issuing system, the base station iBeacon and mobile device, and wherein information issuing system is by background management system, service authentication interface, radio-frequency antenna composition;Base station is made of data memory module and Bluetooth RF antenna;Mobile device is by data processing module, bluetooth transceiver module, radio receiving transmitting module, Bluetooth RF receiving antenna, radio transceiver antenna composition.
The above prior art tool has disadvantages that: 1, the building of Bluetooth transmission communication network is complicated, disposes many Bluetooth APs, and maintenance work is inconvenient, and hardware cost is high.2, specialized server is needed to handle the data that are sent by Bluetooth AP, it may appear that Data Network delay and data bandwidth problem, equally also increase system at This.3, the device that is locally-located used is cured, inflexible, therefore does not accomplish the upgrading and change of a variety of localization methods.4, all it is the position for positioning mobile device, in searching object, the object lost or hidden cannot be positioned by mobile device.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of localization method and its device based on bluetooth BLE, allows to quickly find position of the target BLE from equipment, highly shortened and finds time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, without complicated data processing architecture, reduce hardware cost.
In order to solve the above technical problems, being applied to terminal device the embodiment of the invention provides a kind of localization method based on bluetooth BLE, being somebody's turn to do the localization method based on bluetooth BLE includes: reception signal of the target BLE from equipment in scanning to target BLE after equipment;Parsing obtains received signal strength indicator RSSI value from received signal;When RSSI value is less than preset threshold, the changing rule of RSSI value is calculated;According to the changing rule of RSSI value, the prompt information for being used for prompt terminal equipment moving direction is generated, until RSSI value is greater than or equal to preset threshold.
The embodiment of the invention also provides a kind of positioning devices based on bluetooth BLE, are applied to terminal device, and being somebody's turn to do the positioning device based on bluetooth BLE includes: scan module, for scanning target BLE from equipment;Receiving module, for after equipment, receiving signal of the target BLE from equipment in scanning to target BLE;Parsing module obtains received signal strength indicator RSSI value for parsing from received signal;First judgment module, for judging whether RSSI value is less than preset threshold;Computing module, for calculating the changing rule of RSSI value when RSSI value is less than preset threshold;Generation module generates the prompt information for being used for prompt terminal equipment moving direction for the changing rule according to RSSI value, until RSSI value is greater than or equal to preset threshold.
The embodiment of the present invention in terms of existing technologies, by arriving target BLE after equipment in scanning, receives signal of the target BLE from equipment, parsing obtains RSSI value from received signal, in RSSI When value is less than preset threshold, calculate the changing rule of RSSI value, according to the changing rule of RSSI value, generate the prompt information for being used for prompt terminal equipment moving direction, until RSSI value is greater than or equal to preset threshold, due to when RSSI value is greater than preset threshold, it is possible to determine that find position of the target BLE from equipment, so that position of the target BLE from equipment can be quickly found, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary illustrations do not constitute the restriction to embodiment, element in attached drawing with same reference numbers label is expressed as similar element, unless there are special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the flow chart of the localization method based on bluetooth BLE in first embodiment according to the present invention;
Fig. 2 is the flow chart of the localization method based on bluetooth BLE in second embodiment according to the present invention;
Fig. 3 is the flow chart of the localization method based on bluetooth BLE in third embodiment according to the present invention;
Fig. 4 is the block diagram of the positioning device based on bluetooth BLE in the 4th embodiment according to the present invention;
Fig. 5 is the block diagram of the positioning device based on bluetooth BLE in the 5th embodiment according to the present invention;
Fig. 6 is the block diagram of the positioning device based on bluetooth BLE in sixth embodiment according to the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the embodiments of the present invention are explained in detail below in conjunction with attached drawing.However, it will be understood by those skilled in the art that in each embodiment of the present invention, in order to make reader more fully understand the application and to propose many technologies thin Section.But even if the application technical solution claimed also may be implemented without these technical details and various changes and modifications based on the following respective embodiments.
The first embodiment of the present invention is related to a kind of localization methods based on bluetooth BLE, are applied to terminal device.Detailed process is as shown in Figure 1, the localization method based on bluetooth BLE includes:
Step 101, the low-power consumption bluetooth BLE for the equipment that opens a terminal is switched, and scans BLE from equipment.
It is noted that BLE can be the smart machine with communication function from equipment, for example, BLE from equipment can be, but not limited to based on start writing.Also, BLE can support the agreement of bluetooth4.1/4.2 from the bluetooth in equipment and terminal device.
Specifically, the bluetooth setting for terminal device switchs enabled key, when the enabled key of switch is triggered, terminal device may search for neighbouring BLE from equipment.When terminal device searches for BLE from equipment, search result can be enumerated in the form of a list and.Also, the BLE shown in list can be, but not limited to include following information from equipment: BLE is from the name of equipment, physical address (MAC Address), RSSI value (received signal strength indicator) etc..
Step 102, judge whether that scanning arrives target BLE from equipment.If it is, entering step 103;Otherwise, return step 101.
Specifically, user can find the target BLE that needs to find from equipment according to BLE from the name or MAC Address of equipment from scan list.It clicks for finding virtual push button of the target BLE from equipment.Terminal device is when receiving to target BLE from the searching of equipment instruction, it is possible to determine that arrives target BLE from equipment for scanning.
It should be noted that target BLE can also be scanned by another way from equipment in actual design process.For example, each BLE can be stored in terminal device in advance from equipment.In scanning BLE before equipment, first selects a target BLE from equipment from the device from the BLE prestored, then scan target BLE again from equipment.
In actual application, it is worth mentioning at this point that, in scanning to target BLE after equipment, need User clicks lookup target BLE and executes following algorithmic procedures again after equipment.It is clicked in user and searches target BLE from equipment, i.e., when terminal device receives searching instruction, then receive signal of the target BLE from equipment.Target BLE is searched from equipment alternatively, clicking in user, i.e., when terminal device receives searching instruction, then parses from received signal and obtain signal strength RSSI value.
Step 103, signal of the target BLE from equipment is received.
It is noted that terminal device and target BLE from equipment are communicated using low-power consumption bluetooth BLE, when user uses target BLE from equipment, terminal device needs to open bluetooth.Then terminal device carries out pairing connection from equipment with target BLE, after successful connection, is operated on the terminal device using target BLE from equipment.When user does not use target BLE from equipment, target BLE is disconnected from equipment and terminal device, and target BLE is in broadcast (Advertising) state from equipment at this time, and target BLE sends adv data packet according to certain period from equipment.Terminal device is in scanning (Scanning) state, sends Scan order, may search for neighbouring target BLE from equipment, receives the adv data packet that target BLE is sent from equipment.
Step 104, parsing obtains signal strength RSSI value from received signal.
Step 105, judge whether RSSI value is less than preset threshold.If it is, entering step 106;Otherwise, illustrate RSSI value be greater than or equal to preset threshold, then can determine target BLE from the position of equipment be terminal device locating for regional scope, terminate.
Step 106, the changing rule of RSSI value is calculated.
For example, to the extent permitted by the error, the changing rule of RSSI value can be to become larger, become smaller, is constant and first become larger and become smaller afterwards.
Step 107, according to the changing rule of RSSI value, the prompt information for being used for prompt terminal equipment moving direction is generated.
When generating the prompt information for being used for prompt terminal equipment moving direction, terminal device can show the moving direction of itself.For example, " going ahead ", " walking backward " or " being walked to left/right ".Specifically, When terminal device changes at a distance from equipment with target BLE, RSSI value can also change.Such as:
One: during terminal device is mobile, if RSSI fade in, illustrating that the changing rule of RSSI value is to become larger.Then show terminal device towards target BLE from equipment moving, target BLE is located at the moving direction of terminal device from equipment.It can prompt user " going ahead ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.Two: if RSSI fade out, illustrating that the changing rule of RSSI value is to become smaller.Then show terminal device far from target BLE from equipment moving, target BLE is located at the opposite direction of the moving direction of terminal device from equipment.It can prompt user " walking backward ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.Three: if diminuendo after the crescendo of RSSI signal elder generation.Then show that target BLE is located at the two sides of terminal device mobile route from equipment.It can prompt user " walking to left/right ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.
It is noted that being moved to after new position in terminal device, return step 103, signal of the target BLE from equipment is continued to, until RSSI value is greater than or equal to preset threshold.Also, it is noted that, when the value of RSSI reaches preset threshold, terminal device can also issue triggering information to target BLE from equipment in actual application, information warning is issued from equipment for triggering target BLE.For example, target BLE can be, but not limited to trigger motor, buzzer or the LED light work of itself from equipment.User hear motor Rack or buzzer sound when, cracking can find target BLE from equipment.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
Second embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.Second embodiment is improved on the basis of first embodiment.
Detailed process is as shown in Fig. 2, the localization method based on bluetooth BLE includes:
Step 201 is identical to step 106 as the step 101 in first embodiment to step 206, and details are not described herein.
Step 207, whether the changing rule for judging RSSI value is to become larger.If it is, entering step 208;Otherwise, 209 are entered step.
Difference is asked to a preceding RSSI value and current RSSI value, when difference is greater than preset value, the changing rule of RSSI value is to become larger.When above-mentioned difference is less than preset value, the changing rule of RSSI value is to become smaller.It is noted that preset value is usually arranged as 0.When the difference of an i.e. preceding RSSI value and current RSSI value is greater than 0, illustrate that the changing rule of RSSI value is to become larger.When the difference of a current RSSI value and current RSSI value is less than 0, illustrate that the changing rule of RSSI value is to become smaller.But since in actual measurement, RSSI value is unstable in measurement process, there are errors.So the absolute value of preset value can be set greater than to 0 fixed value in actual application, fixed value is indicated with ε.When the difference of a preceding RSSI value and current RSSI value is greater than ε, the changing rule of RSSI value is to become larger.When the difference of a preceding RSSI value and current RSSI value is less than-ε, the changing rule of RSSI value is to become smaller.
In addition, it is worth noting that, in same design, multiple groups ε value can be prestored.For example, RSSI value is bigger, the RSSI value measured is more accurate, and error ε is smaller.And RSSI value is smaller, the RSSI value measured is more inaccurate, and error ε is bigger.Therefore RSSI value can be grouped in advance, also, every group of RSSI value corresponds to different ε values, to reduce error, user is made more to quickly find target from equipment.
Step 208, prompt is along original direction mobile terminal device.
In actual application, terminal device can show the moving direction of itself.Specifically, RSSI value can also change when terminal device changes at a distance from equipment with target BLE.Such as: during terminal device is mobile, if RSSI fade in, illustrate that the changing rule of RSSI value is Become larger.Then show terminal device towards target BLE from equipment moving, target BLE is located at the moving direction of terminal device from equipment.It can prompt user " going ahead ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.
Step 209, whether the changing rule for judging RSSI value is to become smaller.If it is, entering step 210;Otherwise, the changing rule for illustrating RSSI value is 0, i.e., there is no variations for RSSI value, enters step 208, prompts along original direction mobile terminal device.
Step 210, the changing rule of last RSSI value is obtained.
Step 211, whether the changing rule for judging last RSSI value is to become smaller.If it is, entering step 212;Otherwise, 213 are entered step.
Step 212, the opposite direction mobile terminal device along original direction is prompted.
In actual application, terminal device can show the moving direction of itself.Specifically, RSSI value can also change when terminal device changes at a distance from equipment with target BLE.Such as: during terminal device is mobile, if RSSI fade out, illustrate that the changing rule of RSSI value is to become smaller.Then show terminal device far from target BLE from equipment moving, target BLE is located at the opposite direction of the moving direction of terminal device from equipment.It can prompt user " walking backward ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.
Step 213, the vertical direction mobile terminal device along original direction is prompted.
In actual application, terminal device can show the moving direction of itself.Specifically, RSSI value can also change when terminal device changes at a distance from equipment with target BLE.Such as: during terminal device is mobile, if diminuendo after the crescendo of RSSI signal elder generation.Then show that target BLE is located at the two sides of terminal device mobile route from equipment.It can prompt user " walking to left/right ".In order to which user control terminal equipment is in new position, more accurate data are obtained, help to be quickly found out target BLE from equipment.
It should be noted that, in order to guarantee terminal device in conversion direction rotational angle it is correct, after generating the prompt information for prompt terminal equipment moving direction, the magnetometer of terminal device itself or the rotational angle of acceleration transducer instruction terminal equipment can be passed through.
It is noted that being performed both by step 214 after step 208, step 212 and step 213.
Step 214, the changing rule of RSSI value is updated.
It is noted that be moved to new position in terminal device, and after updating the changing rule of RSSI value, return step 203 continues to signal of the target BLE from equipment, until RSSI value is greater than or equal to preset threshold.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
Third embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.Third embodiment is improved on the basis of first or two embodiments.
Specifically, when terminal device obtains BLE from RSSI value in the data that equipment is sent, will receive of both influence.One, the period for sending adv data packet from equipment due to different BLE is different, and terminal device obtains the rate of RSSI value also can difference.Two, the fluctuation of RSSI value itself is affected by environment can be bigger.For example, the RSSI value that different time obtains will be different in same position.
It is influenced to reduce above-mentioned both sides, the present embodiment further describes the step of carrying out pretreated step to the RSSI value of acquisition and calculating the changing rule of RSSI value.Specifically, the buffer queue at least two RSSI value of dynamic memory can be preset.Specifically, buffer queue can be with dynamic change.It is noted that present embodiment can be, but not limited to preset for dynamic Store the buffer queue of 5 RSSI values.Buffer queue can successively storage terminal device obtain RSSI value.If buffer queue successively stores 5 RSSI values, when terminal device obtains the 6th RSSI value, stored 5 RSSI values successively translate forward a unit in buffer queue, for storing the 6th RSSI value.
Detailed process is as shown in figure 3, the localization method based on bluetooth BLE includes:
Step 301 is identical to step 105 as the step 101 in first embodiment to step 305, and details are not described herein.
Step 306, every to receive N number of RSSI value, algorithm process is filtered to N number of RSSI value.
Specifically, filtering algorithm are as follows: it is every to receive N number of RSSI value, it averages to N number of RSSI value.Alternatively, every receive N number of RSSI value, intermediate value is asked to N number of RSSI value.Alternatively, every receive N number of RSSI value, after rejecting in 5 RSSI values maximum RSSI value and/or the smallest RSSI value, the average value or intermediate value of remaining RSSI value are asked, obtained average value or intermediate value are filtered RSSI value, and wherein N is the positive integer greater than 1.
Step 307, filtered RSSI value is stored to buffer queue.
Step 308, judge whether buffer queue has expired.If it is, entering step 309;Otherwise, return step 303 continue to signal of the target BLE from equipment.
Step 309, using team's head RSSI value in buffer queue as a preceding RSSI value, using the tail of the queue RSSI value in buffer queue as current RSSI value.
It is noted that terminal device can frequently receive the signal that BLE is sent from equipment, and parse and obtain signal strength RSSI value in actual application process.If being resolved to RSSI value each time, all RSSI value and adjacent previous RSSI value are made the difference, will increase the power consumption of terminal device.Moreover, will lead to current RSSI value and adjacent previous RSSI value relatively, the changing rule of RSSI value can not be accurately calculated.Therefore, using the preceding M RSSI value of current RSSI value as a preceding RSSI value, difference is asked to a preceding RSSI value and current RSSI value, in the present embodiment, buffer queue is long Degree is 5, i.e. M=4.
Step 310, current RSSI value is subtracted into a preceding RSSI value, and using the difference of the two as the changing rule of RSSI value.
Step 311 is identical to step 214 as the step 207 in second embodiment to step 318, and details are not described herein.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
The step of various methods divide above, are intended merely to describe clear, and when realization can be merged into a step or split to certain steps, multiple steps is decomposed into, as long as including identical logical relation, within the protection scope of the present patent;To adding inessential modification in algorithm or in process or introduce inessential design, but the core design of its algorithm and process is not changed all in the protection scope of the patent.
Four embodiment of the invention is related to a kind of positioning device based on bluetooth BLE, as shown in figure 4, the positioning device based on bluetooth BLE is applied to terminal device, comprising: scan module 41, for scanning target BLE from equipment;Receiving module 42, for after equipment, receiving signal of the target BLE from equipment in scanning to target BLE;Parsing module 43 obtains received signal strength indicator RSSI value for parsing from received signal;First judgment module 44, for judging whether RSSI value is less than preset threshold;Computing module 45, for calculating the changing rule of RSSI value when RSSI value is less than preset threshold;Generation module 46 generates the prompt information for being used for prompt terminal equipment moving direction for the changing rule according to RSSI value, until RSSI value is greater than or equal to preset threshold.
It is not difficult to find that present embodiment is Installation practice corresponding with first embodiment, present embodiment can work in coordination implementation with first embodiment.The relevant technical details mentioned in first embodiment In the present embodiment still effectively, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in first embodiment.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
It is noted that each module involved in present embodiment is logic module, in practical applications, a logic unit can be a physical unit, be also possible to a part of a physical unit, can also be realized with the combination of multiple physical units.In addition, the unit less close with technical problem relationship proposed by the invention is solved is not introduced in present embodiment in order to protrude innovative part of the invention, but this does not indicate that there is no other units in present embodiment.
Fifth embodiment of the invention is related to a kind of positioning device based on bluetooth BLE.5th embodiment is improved in the 4th embodiment.
As shown in figure 5, the scan module 41 of present embodiment, receiving module 42, parsing module 43, first judgment module 44, computing module 45, generation module 46 are identical as in the 4th embodiment, details are not described herein.
In addition, generation module 46 includes: the first judging submodule 461, for judging whether the changing rule of RSSI value is to become larger;Prompting submodule 462 is when becoming larger, to prompt along original direction mobile terminal device for the changing rule in RSSI value;Submodule 463 is updated, for updating the changing rule of RSSI value;Prompting submodule 464 is also used to prompt conversion direction mobile terminal device when the changing rule of RSSI value is to become smaller.
In addition, prompting submodule 462 includes: sub-acquisition module 4621, it is to obtain the changing rule of last RSSI value when becoming smaller for the changing rule in RSSI value;Sub- cue module 4622 is when becoming smaller, the opposite direction mobile terminal along original direction to be prompted to set for the changing rule in upper primary RSSI value It is standby, when the changing rule of upper primary RSSI value is to become larger, prompt the vertical direction mobile terminal device along original direction.
In addition, computing module 45 includes: computational submodule 451, for seeking difference to a preceding RSSI value and current RSSI value;Second judgment submodule 452, for judging whether the difference is greater than preset value;Decision sub-module 453, when the difference is less than preset value, determines that the changing rule of RSSI value is to become smaller for when the difference is greater than preset value, determining that the changing rule of RSSI value is to become larger.
In addition, in order to guarantee terminal device in conversion direction rotational angle it is correct, positioning device based on bluetooth BLE further include: angle obtains module, for passing through magnetometer or the rotational angle of acceleration transducer instruction terminal equipment after generating the prompt information for prompt terminal equipment moving direction.
Since second embodiment is corresponded to each other with present embodiment, present embodiment can work in coordination implementation with second embodiment.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, and the attainable technical effect of institute similarly may be implemented in the present embodiment in this second embodiment, and in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
Sixth embodiment of the invention is related to a kind of positioning device based on bluetooth BLE.Sixth embodiment is improved in the 4th or the 5th embodiment.
As shown in fig. 6, the scan module 41 of present embodiment, receiving module 42, parsing module 43, first judgment module 44, computing module 45, generation module 46, the first judging submodule 461, prompting submodule 462, update submodule 463, prompting submodule 464, sub-acquisition module 4621, sub- cue module 4622, computational submodule 451, second judgment submodule 452, decision sub-module 453 and the 5th embodiment party Each module in formula is identical, and details are not described herein.In addition, computing module 45 further include: filtering algorithm submodule 454 receives N number of RSSI value for every, is filtered algorithm process to N number of RSSI value, obtains the mean value of N number of RSSI value, wherein N is the positive integer greater than 1.Specifically, filtering algorithm handles submodule and receives N number of RSSI value for every, is filtered algorithm process to N number of RSSI value, specially every to receive N number of RSSI value, it averages to N number of RSSI value, alternatively, every receive N number of RSSI value, intermediate value is asked to N number of RSSI value, or, it is every to receive N number of RSSI value, after rejecting the maximum value and/or minimum value in N number of RSSI value, ask the average value or intermediate value of remaining RSSI value.
Computing module 45 further include: sub-module stored 455, for presetting the buffer queue at least two RSSI value of dynamic memory, when RSSI value is less than preset threshold, before the changing rule for calculating RSSI value, filtered RSSI value is stored to buffer queue;Third judging submodule 456, for judging whether buffer queue has expired;When buffer queue has been expired, computational submodule 451, using the tail of the queue RSSI value in buffer queue as current RSSI value, seeks difference to a preceding RSSI value and current RSSI value using team's head RSSI value in buffer queue as a preceding RSSI value.
Since third embodiment is corresponded to each other with present embodiment, present embodiment can work in coordination implementation with third embodiment.The relevant technical details mentioned in third embodiment are still effective in the present embodiment, and the attainable technical effect of institute similarly may be implemented in the present embodiment in the third embodiment, and in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in third embodiment.
Through the above, it is not difficult to find that present embodiment allows to quickly find position of the target BLE from equipment, it highly shortened and find time of the target BLE from equipment.Also, without disposing iBeacon or Bluetooth AP indoors, so that it may realize to target BLE from the quick positioning of equipment, not need complicated data processing architecture, reduce hardware cost.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that relevant hardware can be instructed to complete by program, the program is stored in a storage medium, it uses including some instructions so that an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) Execute all or part of the steps of each embodiment method of the application.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), the various media that can store program code such as magnetic or disk.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.

Claims (14)

  1. A kind of localization method based on bluetooth BLE, which is characterized in that be applied to terminal device, the localization method based on bluetooth BLE includes:
    In scanning to target BLE after equipment, signal of the target BLE from equipment is received;
    Parsing obtains received signal strength indicator RSSI value from the received signal;
    When the RSSI value is less than preset threshold, the changing rule of the RSSI value is calculated;
    According to the changing rule of the RSSI value, the prompt information for prompting the terminal device moving direction is generated, until the RSSI value is greater than or equal to preset threshold.
  2. Localization method according to claim 1 based on bluetooth BLE, which is characterized in that the changing rule according to RSSI value generates the prompt information for prompting the terminal device moving direction, specifically includes:
    When the changing rule of the RSSI value is to become larger, prompt to move the terminal device along original direction, and update the changing rule of the RSSI value;
    When the changing rule of the RSSI value is to become smaller, the mobile terminal device of conversion direction is prompted, and update the changing rule of the RSSI value.
  3. Localization method according to claim 2 based on bluetooth BLE, which is characterized in that the changing rule in RSSI value is to prompt the mobile terminal device of conversion direction when becoming smaller, specifically include:
    When the changing rule of the RSSI value is to become smaller, the changing rule of last RSSI value is obtained;
    When the changing rule of upper primary RSSI value is to become smaller, the opposite direction along original direction is prompted to move the terminal device;When the changing rule of upper primary RSSI value is to become larger, the vertical direction along original direction is prompted to move the terminal device.
  4. Localization method as claimed in any of claims 1 to 3 based on bluetooth BLE, It is characterized in that, after prompt information of the generation for prompting the terminal device moving direction, further includes:
    The rotational angle of the terminal device is indicated by magnetometer or acceleration transducer.
  5. Localization method as claimed in any of claims 1 to 3 based on bluetooth BLE, which is characterized in that the changing rule for calculating the RSSI value specifically includes:
    Difference is asked to a preceding RSSI value and current RSSI value, when the difference is greater than preset value, the changing rule of the RSSI value is to become larger, and when the difference is less than preset value, the changing rule of the RSSI value is to become smaller.
  6. Localization method according to claim 5 based on bluetooth BLE, which is characterized in that it is described difference is asked to a preceding RSSI value and current RSSI value before further include:
    It is every to receive N number of RSSI value, algorithm process is filtered to N number of RSSI value, wherein N is the positive integer greater than 1;
    The filtering algorithm specifically:
    It is every to receive N number of RSSI value, it averages to N number of RSSI value;
    Alternatively, every receive N number of RSSI value, intermediate value is asked to N number of RSSI value;
    Alternatively, every receive N number of RSSI value, after rejecting the maximum value and/or minimum value in N number of RSSI value, the average value or intermediate value of remaining RSSI value are asked.
  7. Localization method based on bluetooth BLE according to claim 5 or 6, which is characterized in that described to ask difference to specifically include a preceding RSSI value and current RSSI value:
    Using the preceding M RSSI value of current RSSI value as a preceding RSSI value, difference is asked to a preceding RSSI value and current RSSI value, wherein M is the positive integer greater than 1.
  8. A kind of positioning device based on bluetooth BLE, which is characterized in that be applied to terminal device, the positioning device based on bluetooth BLE includes:
    Scan module, for scanning target BLE from equipment;
    Receiving module, for after equipment, receiving signal of the target BLE from equipment in scanning to target BLE;
    Parsing module obtains received signal strength indicator RSSI value for parsing from the received signal;
    First judgment module, for judging whether the RSSI value is less than preset threshold;
    Computing module, for calculating the changing rule of the RSSI value when the RSSI value is less than preset threshold;
    Generation module generates the prompt information for prompting the terminal device moving direction for the changing rule according to the RSSI value, until the RSSI value is greater than or equal to preset threshold.
  9. Positioning device according to claim 8 based on bluetooth BLE, which is characterized in that the generation module includes:
    First judging submodule, for judging whether the changing rule of the RSSI value is to become larger;
    Prompting submodule is to prompt to move the terminal device along original direction when becoming larger for the changing rule in the RSSI value;
    Submodule is updated, for updating the changing rule of the RSSI value;
    The prompting submodule is also used to prompt the mobile terminal device of conversion direction when the changing rule of the RSSI value is to become smaller.
  10. Positioning device according to claim 9 based on bluetooth BLE, which is characterized in that the prompting submodule includes:
    Sub-acquisition module is to obtain the changing rule of last RSSI value when becoming smaller for the changing rule in the RSSI value;
    Sub- cue module is when becoming smaller, to prompt along original for the changing rule in upper primary RSSI value The mobile terminal device of the opposite direction in direction prompts the vertical direction along original direction to move the terminal device when the changing rule of upper primary RSSI value is to become larger.
  11. Positioning device based on bluetooth BLE according to any one of claim 8 to 10, which is characterized in that the positioning device based on bluetooth BLE further include:
    Angle obtains module, for indicating the rotational angle of the terminal device by magnetometer or acceleration transducer.
  12. Positioning device based on bluetooth BLE according to any one of claim 8 to 10, which is characterized in that the computing module includes:
    Computational submodule, for seeking difference to a preceding RSSI value and current RSSI value;
    Second judgment submodule, for judging whether the difference is greater than preset value;
    Decision sub-module, when the difference is less than preset value, determines that the changing rule of the RSSI value is to become smaller for when the difference is greater than preset value, determining that the changing rule of the RSSI value is to become larger.
  13. Positioning device according to claim 12 based on bluetooth BLE, which is characterized in that the computing module further include:
    Filtering algorithm submodule receives N number of RSSI value for every, is filtered algorithm process to N number of RSSI value, wherein N is the positive integer greater than 1;
    The filtering algorithm handles submodule, is specifically used for,
    It is every to receive N number of RSSI value, it averages to N number of RSSI value;
    Alternatively, every receive N number of RSSI value, intermediate value is asked to N number of RSSI value;
    Alternatively, every receive N number of RSSI value, after rejecting the maximum value and/or minimum value in N number of RSSI value, the average value or intermediate value of remaining RSSI value are asked.
  14. Positioning device according to claim 12 or 13 based on bluetooth BLE, feature It is, the computational submodule is specifically used for:
    Using the preceding M RSSI value of current RSSI value as a preceding RSSI value, difference is asked to a preceding RSSI value and current RSSI value, wherein M is the positive integer greater than 1.
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